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Python code for Master Thesis

by Haoran Yuan

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Files

  1. AL_prior.py, AL_prior_copy.py: SAL agent.
  2. AL_quadrotor.py: normal AL agent.
  3. Another_solver.py: Projection method.
  4. control_evaluate.py: evaluation of agent's performance.
  5. experiments.py, experiments_copy.py: AL expirements.
  6. experiments_PID.py: RL experiments without reward functions from the AL algorithm.
  7. experiments_sal.py, experiments_sal_copy.py: SAL experiments.
  8. gui.py: GUI for 3D animation.
  9. PID_3D.py: Simulation on PID controllers.
  10. PID_controller_logging.py: PID controller.
  11. plot_AL_results.py, plot_SAL_AL.py, plot_SAL_results.py, plot_timetraces.py: Plotting results.
  12. plot_policies.py: Plotting policies in 2D heat map.
  13. policy_eval_recurrent.py, policy_eval_recurrent.py: Evaluation of the policies produced by SAL and AL algorithms.
  14. policy_evaluate.py: Plotting the similarity curve of the target policy and the produced policies.
  15. policy_mixer.py: Mixing historic policies into new policies for AL or SAL.
  16. quad_env.py: Quadrotor environment for simulations.
  17. rewardconstruct.py: Reward function contstructions.
  18. rl_3D.py: RL simulation with Q-learning.
  19. rl_3d_agent.py: Q-learning agent.
  20. rl_policy_dir.py: The simulation that directly use policies rather than state-action value functions.
  21. state_action_value.py: State-action value function.

How to use

  1. Run RL (Q-learning) experiments: Open rl_3D.py, scroll down to the last part. Under "if name == "main"" change parameters then run.
  2. Run RL (Q-learning) with policy files: Policy files contains numbers in [0, 1] as the probability of selecting "action 1". Open rl_policy_dir.py, scroll down. Choose the directory that contains policy file then run.
  3. Run AL and SAL experiments: Open experiments.py or experiments_sal.py, enter directories and other parameters, then run.
  4. Plot AL and SAL results: Open plot_AL_results.py, plot_SAL_AL.py, plot_SAL_results.py or plot_timetraces.py, select directories, then run.

Notice

  1. The default setting for number of repeats of AL and SAL is 10. It usually takes more than 4 hours to finish.
  2. Each folder of results is more than 3 GB.

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